CN101681168B - 利用基于视觉的调整引导车辆的方法和系统 - Google Patents

利用基于视觉的调整引导车辆的方法和系统 Download PDF

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Publication number
CN101681168B
CN101681168B CN2008800176463A CN200880017646A CN101681168B CN 101681168 B CN101681168 B CN 101681168B CN 2008800176463 A CN2008800176463 A CN 2008800176463A CN 200880017646 A CN200880017646 A CN 200880017646A CN 101681168 B CN101681168 B CN 101681168B
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China
Prior art keywords
data
vision
crop
vehicle
guidance data
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CN2008800176463A
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English (en)
Chinese (zh)
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CN101681168A (zh
Inventor
韩·书峰
特伦斯·丹尼尔·皮克特
约翰·富兰克林·里德
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Deere and Co
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Deere and Co
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)
CN2008800176463A 2007-05-31 2008-04-08 利用基于视觉的调整引导车辆的方法和系统 Active CN101681168B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/755,965 2007-05-31
US11/755,965 US7876927B2 (en) 2005-01-04 2007-05-31 Method and system for guiding a vehicle with vision-based adjustment
PCT/US2008/059640 WO2008150573A1 (fr) 2007-05-31 2008-04-08 Procédé et système de guidage de véhicule à ajustement par vision

Publications (2)

Publication Number Publication Date
CN101681168A CN101681168A (zh) 2010-03-24
CN101681168B true CN101681168B (zh) 2011-05-18

Family

ID=40104707

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2008800176463A Active CN101681168B (zh) 2007-05-31 2008-04-08 利用基于视觉的调整引导车辆的方法和系统

Country Status (5)

Country Link
US (1) US7876927B2 (fr)
EP (1) EP2156255A4 (fr)
CN (1) CN101681168B (fr)
BR (1) BRPI0812070B1 (fr)
WO (1) WO2008150573A1 (fr)

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WO2013167889A2 (fr) 2012-05-08 2013-11-14 Smart Pipe Company Inc. Usine mobile pour fabrication et installation mobiles simultanées sur le terrain d'un tuyau non métallique
CN102889932B (zh) * 2012-09-25 2014-06-04 山东神戎电子股份有限公司 一种抗强光损伤热像仪及其方法
US9091628B2 (en) 2012-12-21 2015-07-28 L-3 Communications Security And Detection Systems, Inc. 3D mapping with two orthogonal imaging views
CN104020781A (zh) * 2013-02-28 2014-09-03 鸿富锦精密工业（深圳）有限公司 量测控制系统及方法
US20150027041A1 (en) 2013-03-07 2015-01-29 Blue River Technology, Inc. System and method for plant cauterization
US10327393B2 (en) 2013-03-07 2019-06-25 Blue River Technology Inc. Modular precision agriculture system
EP3032946B1 (fr) 2013-07-11 2022-10-05 Blue River Technology Inc. Procédé de mesure et de sélection automatique de phénotypes
CN104463154B (zh) * 2013-09-16 2017-12-29 联想(北京)有限公司 一种信息处理方法及电子设备
TWM477598U (zh) * 2013-11-18 2014-05-01 Weistech Technology Co Ltd 具有路線校正功能之移動裝置
WO2015127397A1 (fr) 2014-02-21 2015-08-27 Blue River Technology, Inc. Système et procédé d'étalonnage d'odométrie automatique pour des systèmes agricoles de précision
CN104180818B (zh) * 2014-08-12 2017-08-11 北京理工大学 一种单目视觉里程计算装置
US10928510B1 (en) * 2014-09-10 2021-02-23 Rockwell Collins, Inc. System for and method of image processing for low visibility landing applications
CN104299455A (zh) * 2014-10-27 2015-01-21 重庆布伦坦茨航空技术进出口有限公司 机场特种车辆自动驾驶系统
WO2016106715A1 (fr) 2014-12-31 2016-07-07 SZ DJI Technology Co., Ltd. Traitement sélectif de données de capteur
CN105842724B (zh) * 2015-01-15 2018-07-17 江苏南大五维电子科技有限公司 一种船舶辅助泊岸方法和系统
EP3264892B1 (fr) 2015-03-06 2020-10-07 Blue River Technology Inc. Système modulaire d'agriculture de précision
US10139279B2 (en) 2015-05-12 2018-11-27 BioSensing Systems, LLC Apparatuses and methods for bio-sensing using unmanned aerial vehicles
US10318810B2 (en) * 2015-09-18 2019-06-11 SlantRange, Inc. Systems and methods for determining statistics plant populations based on overhead optical measurements
US9878711B2 (en) 2015-12-14 2018-01-30 Honda Motor Co., Ltd. Method and system for lane detection and validation
US10228460B1 (en) 2016-05-26 2019-03-12 Rockwell Collins, Inc. Weather radar enabled low visibility operation system and method
CN106352874A (zh) * 2016-08-15 2017-01-25 杭州阿优文化创意有限公司 室内机器人的路径回归方法
JP6867184B2 (ja) * 2017-02-13 2021-04-28 トヨタ自動車株式会社 運転支援装置
JP7153895B2 (ja) * 2017-12-14 2022-10-17 学校法人立命館 自律移動システム及びコントローラ
US11184507B2 (en) 2018-07-11 2021-11-23 Raven Industries, Inc. Adaptive color transformation to aid computer vision
US11212954B2 (en) * 2019-05-08 2022-01-04 Deere & Company Apparatus and methods for field operations based on historical field operation data
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Also Published As

Publication number Publication date
BRPI0812070B1 (pt) 2018-11-06
US7876927B2 (en) 2011-01-25
US20080065286A1 (en) 2008-03-13
EP2156255A4 (fr) 2013-01-02
EP2156255A1 (fr) 2010-02-24
WO2008150573A1 (fr) 2008-12-11
CN101681168A (zh) 2010-03-24
BRPI0812070A2 (pt) 2014-11-25

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